WO2019084420A1 - Feuille de nanotubes de carbone enveloppant les muscles - Google Patents

Feuille de nanotubes de carbone enveloppant les muscles

Info

Publication number
WO2019084420A1
WO2019084420A1 PCT/US2018/057736 US2018057736W WO2019084420A1 WO 2019084420 A1 WO2019084420 A1 WO 2019084420A1 US 2018057736 W US2018057736 W US 2018057736W WO 2019084420 A1 WO2019084420 A1 WO 2019084420A1
Authority
WO
WIPO (PCT)
Prior art keywords
cnt
core fiber
yarn
sheets
muscle device
Prior art date
Application number
PCT/US2018/057736
Other languages
English (en)
Inventor
Marcio Dias Lima
Julia BYKOVA
Marilu Guerrero
Original Assignee
Lintec Of America, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lintec Of America, Inc. filed Critical Lintec Of America, Inc.
Priority to JP2020523347A priority Critical patent/JP2021502044A/ja
Priority to US16/759,130 priority patent/US20200345475A1/en
Publication of WO2019084420A1 publication Critical patent/WO2019084420A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/08—Muscles; Tendons; Ligaments
    • C—CHEMISTRY; METALLURGY
    • C01—INORGANIC CHEMISTRY
    • C01B—NON-METALLIC ELEMENTS; COMPOUNDS THEREOF; METALLOIDS OR COMPOUNDS THEREOF NOT COVERED BY SUBCLASS C01C
    • C01B32/00—Carbon; Compounds thereof
    • C01B32/15—Nano-sized carbon materials
    • C01B32/158—Carbon nanotubes
    • C01B32/159—Carbon nanotubes single-walled
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/22—Yarns or threads characterised by constructional features, e.g. blending, filament/fibre
    • D02G3/36—Cored or coated yarns or threads
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/44—Yarns or threads characterised by the purpose for which they are designed
    • D02G3/448—Yarns or threads for use in medical applications
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B1/00—Conductors or conductive bodies characterised by the conductive materials; Selection of materials as conductors
    • H01B1/20—Conductive material dispersed in non-conductive organic material
    • H01B1/24—Conductive material dispersed in non-conductive organic material the conductive material comprising carbon-silicon compounds, carbon or silicon
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/08—Muscles; Tendons; Ligaments
    • A61F2002/0894—Muscles
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2101/00—Inorganic fibres
    • D10B2101/10—Inorganic fibres based on non-oxides other than metals
    • D10B2101/12—Carbon; Pitch
    • D10B2101/122—Nanocarbons
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T428/00—Stock material or miscellaneous articles
    • Y10T428/30—Self-sustaining carbon mass or layer with impregnant or other layer

Definitions

  • Thermally driven torsional actuators based on twisted polymeric and carbon nanotube (CNT) fibers and yarns have a wide range of applications.
  • Artificial muscle actuators also referred to as artificial muscle devices, comprising twisted and/or coiled polymers have the advantage of low cost, high production volume, and design simplicity. Artificial muscle actuators may have advantages over small motors because of the greatly simplified engineering and lower product costs.
  • embodiments disclosed herein relate to a carbon nanotube
  • the first CNT yarn includes: one or more first CNT sheets wrapped in the form of a tube; and a first guest actuation material infiltrating the one or more first CNT sheets.
  • embodiments disclosed herein relate to a method of manufacturing a CNT muscle device.
  • the method includes: wrapping one or more first CNT sheets around a core fiber; and infiltrating the one or more first CNT sheets with a first guest actuation material to create a first CNT yarn.
  • FIG. 1 shows a carbon nanotube (CNT) artificial muscle device in accordance with one or more embodiments of the invention.
  • FIG. 2 shows a cross-sectional view of a CNT artificial muscle device in accordance with one or more embodiments of the invention.
  • FIG. 3A and 3B show wrapping CNT sheets of a CNT artificial muscle device in accordance with one or more embodiments of the invention
  • FIGS. 4A and 4B show CNT artificial muscle devices in accordance with one or more embodiments of the invention.
  • FIG. 5 shows a graph in accordance with one or more embodiments of the invention.
  • FIG. 6 shows a cross-sectional view and a side-view of a CNT artificial muscle device in accordance with one or more embodiments of the invention.
  • FIG. 7 shows a cross-sectional view and a side-view of a CNT artificial muscle device in accordance with one or more embodiments of the invention.
  • FIGS. 8A-8C show implementation examples in accordance with one or more embodiments of the invention.
  • FIG. 9 shows a flowchart in accordance with one or more embodiments of the invention.
  • embodiments of the invention relate to a carbon nanotube
  • CNT artificial muscle device and a method of manufacturing a CNT artificial muscle device.
  • FIG. 1 shows the CNT artificial muscle device (hereinafter, CNT muscle device (100)) that includes a CNT yarn (102) disposed around a core fiber (104).
  • the CNT yarn (102) shown in FIG. 1 includes one or more CNT sheets wrapped around the core fiber (104).
  • Each of the CNT sheets is a thin sheet of a plurality of CNTs disposed next to each other.
  • the CNT sheets may be 0.2 mm wide or more.
  • the CNT sheets may be wrapped to create a bias angle " ⁇ " with respect to a central access "C" of the CNT muscle device (100).
  • a bias angle of 0° corresponds to CNT sheets oriented parallel to C
  • a bias angle of 90° corresponds to CNT sheets oriented perpendicular to C.
  • the bias angle may in equation (1) below:
  • the core fiber (104) may be any fiber that has a mechanical strength ⁇ i.e., stiffness) chosen based on design or functionality of the CNT muscle device (100). For example, if the core fiber (104) is made of a stiff material, the mechanical strength of the CNT muscle device (100) may be increased, but flexibility of the CNT muscle device (100) may be hindered.
  • the core fiber (104) may be from, but not limited to, various polymer fibers, metal wire, carbon fiber, glass fiber, basalt
  • the core fiber include, but are not limited to, fiber, optical fiber, natural fibers/yarns, another CNT yarn, or tows and plies thereof.
  • CNT yarns ⁇ e.g., the CNT yarns disclosed in the embodiments herein) may be used as the core fiber because the CNT yarns may have good mechanical strength and good flexibility.
  • the core fiber (104) in case the core fiber (104) is a metal wire, the core fiber (104) may be, but not limited to, a metal wire such as tungsten, copper, or a braid of metals.
  • the metal wire may provide mechanical strength ⁇ i.e., stiffness) to the CNT muscle device (100), and may provide a highly conductive pathway. This highly conductive pathway may be used to actuate or anneal the CNT muscle device (100).
  • the diameter of the core fiber (104) may be chosen based on a desired tensile strength and/or stiffness of the CNT muscle device (100).
  • FIG. 2 shows a cross-sectional view of the CNT muscle device (200) that includes a core fiber (206) and a CNT yarn (202) disposed around the core fiber (206).
  • the CNT yarn (202) includes one or more CNT sheets (204) wrapped around the core fiber (206) and a guest actuation material (208) infiltrated the CNT sheets (204).
  • the guest actuation material (208) may be infiltrated into the entirety of the CNT sheets (204). In other embodiments, the guest actuation material (208) may be infiltrated into a portion of the CNT sheets (204)
  • FIG. 2 shows the CNT sheets (204) and the guest actuation material (208) as distinct layers adjacent to each other.
  • the CNT sheets (204) and the guest actuation material (208) may be constructed to form highly porous CNT layers with the guest actuation material (208) infiltrated in gaps between the CNT sheets (204) and thus, may not be distinct.
  • These features and any cavities in the CNT layers may have dimensions in the range of nanometers to a few microns ( ⁇ ).
  • the guest actuation material (208) may be applied to the CNT sheets (204) while the wrapped CNT sheets (204) are under a vacuum. After applying the guest actuation material (208), the vacuum is removed and the guest actuation material (208) will be sucked into the CNT sheets (204). This is referred to as vacuum- assist infiltration hereinafter.
  • the core fiber (206) may be a coiled spring (i.e., coiled-spring fiber).
  • an advantage of the coiled-spring fiber may be to better allow the suction of the guest actuation material (208) into inner layers of the CNT sheets (204) (i.e., layers that are closer to the core fiber (206)).
  • the CNT muscle device (200) upon powering (i.e. , heating) the CNT muscle device (200), the CNT muscle device (200) actuates, which means that the CNT muscle device (200) moves (e.g., rotates, bends, stretches, or contracts) in response to powering the CNT muscle device (200).
  • the actuation of the CNT muscle device (200) is driven by a volume change (i.e. , expansion or contraction) of the guest actuation material (208).
  • a volume change i.e. , expansion or contraction
  • the guest actuation material (208) may expand. Because, although the CNT sheets (204) are flexible, they resist against being stretched and, thus, the bias angle of the CNT sheets (204) may provide rotational and/or tensile movement directions to the volume change of the guest actuation material (208) and cause the actuation.
  • the CNT muscle device (200) actuates if the CNT muscle device (200) comprises 5 wt% CNT sheets (204) (or CNTs) and 95 wt% guest actuation material (208) so that CNT muscle device (200) would have low tensile strength.
  • the volume percentage or mass percentage of the CNT sheets (204) and the guest actuation material (208) may be chosen based on a preferred design or functionality of the CNT muscle device (200).
  • an effective way of powering the guest actuation material (208) is by heating the guest actuation material (208) via the CNT sheets (204) through resistive heating.
  • the CNT muscle device (200) may be powered with other methods such as power induction, photo absorption, chemical reactions, etc.
  • other conductive materials e.g. , a metallic wire, a CNT wire, graphene
  • the guest actuation material (208) may be selected based on, but not limited to, its ability to infiltrate the CNT sheets (204), melting point, biocompatibility, chemical resistance, extreme temperature resistance (i. e., durability in hot/cold conditions), or thermal expansion of the guest actuation material (208).
  • a silicone-based rubber may be used as the guest actuation material (208) because the silicone-based rubber may withstand high temperatures and may not squeeze out of the CNT yarn (202) when heated.
  • the guest actuation material may be Sylgard 184 silicone-based rubber.
  • the guest actuation material (208) may be paraffin wax.
  • the guest actuation material (208) may expand uniformly when heated. In one or more embodiments, the guest actuation material (208) may expand radially. As thermal expansion coefficient of the guest actuation material (208) increases, the maximum amount of actuation (actuation capability) of the CNT muscle device (200) may increase as well. In one or more embodiments, softer guest actuation material (208) may provide greater actuation, but a less mechanically strong CNT muscle device (200).
  • the CNT yarn (202) may include other materials as well.
  • the guest actuation material (208) may include, but not limited to, elastomers (e.g., silicone-based rubber, polyurethane, styrene-butadiene copolymer, and natural rubber), fluorinated plastics (e.g. , perfluoroalkoxy alkane (PFA), polytetrafluoroethylene (PTFE), and fluorinated ethylene propylene (FEP)), aramids, (e.g. , Kevlar and nomex), epoxies, polyimides, and paraffin wax.
  • elastomers e.g., silicone-based rubber, polyurethane, styrene-butadiene copolymer, and natural rubber
  • fluorinated plastics e.g. , perfluoroalkoxy alkane (PFA), polytetrafluoroethylene (PTFE), and fluorinated ethylene propy
  • the core fiber (206) may have a thermal expansion coefficient less than thermal expansion coefficient of the guest actuation material (208). In one or more embodiments, the core fiber (206) may not expand noticeably.
  • the cross-sectional area of the core fiber is the cross-sectional area of the core fiber
  • (206) may be less than 10% of the total cross-sectional area of the device CNT muscle device (200) and may be less than 1% of the total cross-sectional area of the CNT muscle device (200).
  • FIG. 3A and 3B show how the CNT sheets may be wrapped around the core fiber.
  • three CNT sheets (302) are disposed on the core fiber (304).
  • the CNT sheets (302) are spaced from each other so that each CNT sheet (302) may form a CNT layer.
  • the CNT sheets (302) are wrapped around the core fiber (304) to create three consecutive CNT layers in the entire length of the core fiber (304).
  • a 15-mm wide CNT sheet (302) may be wrapped ten times around a core fiber (304) that is 1 m in length.
  • each CNT sheet (302) may be wrapped over itself multiple times to create a stack of CNT sheets (302) in which the CNT sheets (302) may become inseparable and cannot be unwrapped.
  • the CNTs in each of the CNT sheets (302) may be aligned with each other and may be aligned in a direction along the length of the CNT sheet (302) shown by "D" in FIG. 3 A.
  • the number of CNT sheets (302) may be more or less than three. Also, one CNT sheet (302) can be wrapped around the core fiber (304) multiple times. For example, by moving the rotating core fiber (304) back and forth in a direction along the X axis, one CNT sheet (302) can be wrapped around the core fiber (304) multiple times. [0046] In one or more embodiments, the angle " ⁇ ⁇ " of the CNT sheets (302) with respect to the core fiber (304) is the same as the bias angle " ⁇ " of the CNT sheets shown in FIG. 1 and discussed above.
  • the CNT sheets (302) upon wrapping the CNT sheets (302), there may be a natural drift in ⁇ toward 90°.
  • the drift in ⁇ can be reduced or eliminated.
  • the pulling speed and the diameter of the core fiber (304) depend on a desired ⁇ .
  • CNT sheets (306) may be fluffy. So, as shown in FIG. 3A, a compressing tool (306) may be used to press the CNT sheets (302) to the core fiber (304).
  • the compressing tool (306) may be a blade or a Teflon rod. However, the compressing tool (306) may be anything else based on a preferred manufacturing of the CNT muscle device.
  • FIG. 3B shows that each of the angles " ⁇ ⁇ ⁇ , ⁇ ⁇ 2 , ⁇ 3 " that the CNT sheets
  • an advantage of the method shown in FIGS. 3 A and 3B is that the bias angles of the CNT layers may be precisely controlled as a function of radius.
  • the bias angle of each of the CNT layers may vary across the length of the core fiber (304).
  • ⁇ ⁇ may vary while the core fiber (304) moves along X axis.
  • FIGS. 3A and 3B is that the CNT sheets (302) may be wrapped at any desired angle.
  • the CNT sheets (302) may be wrapped to provide bias angles of more than 80° for the CNT sheets without coiling the CNT muscle device.
  • wrapping the CNT sheets (302) without a core fiber (304) may coil the CNT muscle device such that the CNT muscle device is no longer linear but twisted into a helical pattern. This coiling effect is also known in the art as writhe.
  • the coiling effect for wrapping the CNT sheets (302) without a core fiber (304) may be more likely to occur at lower bias angles.
  • the bias angle may increase or decrease as a function of radial distance from the core fiber (304).
  • it may be advantageous to increase the number of CNT layers so that the bias angle from one CNT layer to another CNT layer can change more smoothly.
  • the bias angle of the CNT sheets (302) across the length of the core fiber (306) may be constant. Alternatively, in other embodiments, changing any of these parameters may vary the bias angle of the CNT sheets (302) across the length of the core fiber (306).
  • the CNT sheets (302) may be wrapped such that alternating CNT layers may have alternating bias angles.
  • the bias angles may alternate between +45° and -45°.
  • CNT muscle device may include a plurality of CNT yarns that have different actuation properties.
  • a CNT muscle device (400) that includes a first CNT yarn (402) disposed around a core fiber (404) and a second CNT yarn (406) disposed around the first CNT yarn (402).
  • the bias angle of the first CNT yarn "0i” and the bias angle of the second CNT yarn " ⁇ 2 " may be different (e.g., Qi may be smaller than ⁇ 2 ).
  • Qi may be 10° and ⁇ 2 may be 70°.
  • Qi may be 30° and ⁇ 2 may be 60°. In one or more embodiments, Qi may be 60° and ⁇ 2 may be 30°.
  • a smaller Qi with respect to ⁇ 2 may provide more actuation forces for the first CNT yarn (402) with respect to the second CNT yarn (406).
  • there may be other factors such as amount and type of the guest actuation material, thicknesses, or amount of the CNT sheets of the first and the second CNT yarns (402, 406) that determine the relative actuation forces of the first and the second CNT yarn (402, 406).
  • one of the first and the second CNT yarns (402, 406) may be incorporated without a guest actuation material.
  • a CNT yarn with no guest actuation material may not provide an actuation force; however, it may provide mechanical strength for the CNT muscle device (400).
  • the CNT sheets may be advantageous to wrap the CNT sheets at a bias angle of approximately 54.73°.
  • This angle is determined using the single helix model described in "Torsional carbon nanotube artificial muscles" by Javad Foroughi et al. in Science 334.6055, pages 494- 497, published in 2011.
  • a single helix is a material that is uniformly twisted in form of a uniform helix.
  • the single helix model is a basic model that works only for a single helix (or one layer) and functions as a good first approximation of the actuation mechanism.
  • the CNT yarn allows for a small length increase under a small tension across the length of the CNT yarn and allows for rotation, and if the bias angle is below -54.73°, upon expansion of the guest actuation material, the CNT yarn tends to untwist. However, when the bias angle is above -54.73°, the twist of the CNT yarn increases.
  • the former case (the bias angle below -54.73°) may give a higher actuation than the latter case (the bias angle above -54.73°), especially in the CNT muscle devices that consist of many layers of CNT yarns with various bias angles.
  • FIG. 5 shows an example of the single helix model when the volume of the guest actuation material increases by 5%.
  • the length "L” of the CNT yarn e.g. , the length of the CNT yarns (100, 200, 400) in FIGS. 1, 2, and 4A-4B along X axis
  • the bias angle is 50° (short-dashed line), which is less than -54.73°
  • the relative twist (n/no) decreases relative to the 54.73° bias angle case (solid line).
  • n is the twist of the CNT yarn after expansion of the guest actuation material (i.e. , upon actuation) and no is an initial twist of the CNT yarn before the expansion, which may be the twist when the CNT yarn was manufactured.
  • the bias angle may increase or decrease monotonically as a function of radial distance from the core fiber.
  • the bias angle may increase or decrease to a maximum bias angle of 54.73°.
  • the core fiber may be torsion-free because the core fiber may not be required to create actuation forces.
  • the bias angle of the CNT yarn may be adjusted to provide the desired combination of actuation and strength of the CNT muscle device. In one or more embodiments, beyond an optimal bias angle (i. e. , the bias angle corresponding to maximum actuation (e.g., 54.73°)), the greater the bias angle results in weaker actuation forces of the CNT yarn. In one or more embodiments, the optimum bias angle may not be 54.73°.
  • CNTs may be aligned across the length of the CNT sheets.
  • the CNT sheets are also strong along their bias angle.
  • relative mechanical strength of the CNT muscle device in directions along the length of the CNT muscle device i.g. , along X axis in FIGS. 1, 2, and 4A-4B
  • perpendicular to the length of the CNT muscle device i.e. , radial strength
  • bias angles closer to 90° provide more radial strength and less longitudinal strength, and vice versa for bias angles closer to 0°.
  • the strength of the artificial muscle device may depend not only on the bias angle of the CNT yarn but also the strength and diameter of the core fiber, any treatments done to the CNT sheets or the guest actuation material, additional guest materials aside from the guest actuating material, etc.
  • the CNT yarn may be reinforced to increase mechanical strength of the CNT muscle device against rupture. However, reinforcing the CNT yarn may decrease actuation of the CNT muscle device.
  • FIGS. 6 and 7 show cross-sectional views (top of FIGS. 6-7) and side views (bottom of FIGS. 6-7) of CNT muscle devices (600, 700) that include CNT yarns (602, 702) disposed around core fibers (604, 704).
  • CNT yarns (602, 702) disposed around core fibers (604, 704).
  • reinforcing yarns (606, 706) are wound around the CNT yarns (602, 702).
  • the reinforcing yarns (606, 706) may be CNTs wires (i.e., braided CNTs) that have high torsional strength and good flexibility.
  • the reinforcing yarn (606) may be wound around the CNT yarn (602) such that the reinforcing yarn (606) is aligned to a bias angle.
  • the reinforcing yarn may be wound such that the net bias angle of the reinforcing yarn is 90° (i.e., no bias angle).
  • the reinforcing yarn (706) may be braided with alternating bias angles to create the no bias angle condition.
  • the reinforcing yarn may be braided with random orientations and may create the no bias angle condition.
  • FIGS. 6 and 7, show that the reinforcing yarns (606, 706) are disposed on the outer surface of the CNT yarns (602, 702).
  • the reinforcing yarns (606, 706) may be partially or entirely embedded inside the CNT yarns (602, 702).
  • some CNT sheets may be wrapped, then some reinforcing yarns (606, 706) may be wound on the CNT sheets, and then some more CNT sheets may be wrapped to partially or entirely embed the reinforcing yarns (606, 706) in the CNT yarns (602, 702).
  • the reinforcing yarns (606, 706) may include, but are not limited to, metal wires or springs.
  • An advantage of embedding the reinforcing yarns (606, 706) may be to protect the reinforcing yarns (606, 706) from corrosive agents that may etch the reinforcing yarns (606, 706).
  • the reinforcing yarns (606, 706) may be wound similarly to wrapping the CNT sheets, in one or more embodiments disclosed herein.
  • the reinforcing yarns (606, 706) may be wound with methods disclosed with reference to FIGS. 3A-3B.
  • the core fiber may be removed.
  • the CNT muscle device that is hollow is referred to a hollow CNT tube.
  • CNTs may adhere to many materials they contact with.
  • the core fiber may be selected to have low surface energy such that the core fiber does not stick to the CNT yarn and may be easily removed from the CNT yarn.
  • the core fiber may be variants of low surface energy silicone or may be coated with silicone.
  • the core fiber is Teflon or has a Teflon coating.
  • the core fiber may be from a material with a melting point lower than a temperature that damages the CNTs (e.g., -480 Celsius in Air) or a melting point of the guest actuation material (e.g., -200 Celsius for silicone).
  • the core fiber may be removed by being melted and drained.
  • a pressure differential may be applied across the length of the CNT yarn.
  • the damage temperature of the CNTs may increase to over 2000 Celsius.
  • the core fiber may be from a low melting point metal such as a solder.
  • the diameter of the solder core fiber may be as small as 50 ⁇ .
  • the CNT sheets may function as a resistive heater, and the resistive heat may be used to melt the core fiber.
  • the core fiber is removed by being etched away.
  • the core fiber may be etched away using strong acids or other corrosive agents. CNTs are resistant to most corrosive agents and withstand the etching.
  • the core fiber may be from copper and may be etched away by strong acids such as ferric chloride (FeCl).
  • the diameter of the copper core fiber may be 5 ⁇ or smaller.
  • the core fiber may be elastic (e.g., coiled spring, rubber) and stretched such that the diameter of the core fiber decreases and the core fiber separates from the CNT yarn. In these embodiments, after stretching the core fiber, the core fiber may be pulled out of the CNT yarn.
  • the core fiber is a coiled spring that has coils close enough together such that the CNT sheets can be suspended between the pitches of the coils.
  • the CNT muscle device when the core fiber is a coiled spring, if the coiled fiber is left inside the CNT yarn, the CNT muscle device may be considered a hollow CNT tube. In one or more embodiments, an advantage of the coiled spring is providing good flexibility of the CNT muscle device.
  • the interior surface or the exterior surface of the hollow CNT tube (800) may be coated with a coating material (802).
  • the coating material (802) may be coated on the core fiber and then the CNT yarn (804) may be wrapped around the coated core fiber.
  • the coating material (802) must adhere to the CNT yarn (804) such that after removing the core fiber, the coating material (802) remains coated on the inner surface of the CNT yarn (804), as shown in FIG. 8A.
  • the coating material (802) may coat the outer surface of the CNT yarn (804) with or without the core fiber being removed, as shown in FIG. 8B.
  • the coating material on the outer surface of the CNT yarn (804) may be the guest actuation material.
  • the coating material (802) may be cured
  • the coating material (802) may be annealed at a temperature below the melting point of the coating material (802).
  • the CNT sheets may be wrapped such that they contain other materials simultaneously.
  • the CNT sheets may be wrapped such that the CNT yarn (804) contains one or more graphene layers (806).
  • the graphene layers (806) may be, but are not limited to, graphene sheets, graphene flakes, graphene oxide sheets, graphene oxide flakes, or graphene nanoplatelets.
  • the CNT yarn (804) may include the graphene layers (806) instead of the guest actuation material to prevent a fluid inside the hollow CNT tube (800) escaping from walls of the hollow CNT tube.
  • a pressure inside the hollow CNT tube may be adjusted to be lower value than a pressure outside the hollow CNT tube so that the guest actuation material may be sucked-in from the outer portion to the inner portion of the hollow CNT tube.
  • a vacuum may be applied to the inner hollow portion (i.e. , the portion that is emptied from the core fiber) of the hollow CNT tube.
  • an advantage of the hollow CNT tube is that although it may have high mechanical strength (e.g., torsional strength), the hollow CNT tube may be designed to have a very small inner diameter.
  • the inner diameter of the hollow CNT tube may be less than 5 ⁇ .
  • the CNT sheets may be wrapped such that the CNT yarn has a net bias angle that results in the actuation of the hollow CNT tube.
  • the CNT yarn may have no bias angle so the hollow CNT tube does not actuate.
  • randomly oriented CNT sheets produced by filtration methods, sock method, or electrospinning method may be wrapped in accordance with one or more embodiments.
  • the hollow CNT tubes with no bias angle may be used as pipes.
  • the hollow CNT tube may be reinforced to prevent twisting.
  • the CNT wires disclosed above may be disposed around the hollow CNT actuating device in braid or other patterns in accordance with one or more embodiments.
  • FIG. 9 shows a flow chart depicting a method for manufacturing a CNT muscle device.
  • one or more of the steps shown in FIG. 9 may be omitted, repeated, and/or performed in a different order than the order shown in FIG. 9. Accordingly, the scope of the invention is not limited to the specific arrangement of steps shown in FIG. 9.
  • one or more CNT sheets i.e., first CNT sheets
  • the CNT sheets are wrapped around a core fiber.
  • the CNT sheets (204, 302) are wrapped around the core fiber (206, 304).
  • the CNT sheets may be wrapped to create bias angles, such as ⁇ shown in FIG. 1 and ⁇ and ⁇ 2 shown in FIG. 4B.
  • the first CNT sheets may be infiltrated with a first guest actuation material to create a first CNT yarn.
  • the first CNT sheets may be infiltrated with the methods for infiltrating the CNT sheets in accordance with one or more embodiments above.
  • the first CNT yarn may be annealed.
  • the first CNT yarn may be annealed in accordance with one or more embodiments above for annealing the CNT yarn.
  • more CNT sheets may be wrapped around the first CNT yarn.
  • the second CNT yarn (406) is disposed around the first CNT yarn (402).
  • the second CNT sheets may be wrapped according to methods in one or more embodiments above for wrapping the CNT sheets.
  • a second guest actuation material may be infiltrated into the second CNT sheets to create a second CNT yarn.
  • the second CNT yarn (406) disposed around the first CNT yarn (402) is infiltrated with a guest actuation material.
  • the second guest actuation material may be infiltrated according to methods in one or more embodiments above for infiltrating the guest actuation material.
  • the first and the second guest actuation materials may be from a same material. Alternatively, in other embodiments, the first and the second guest actuation materials may be from different materials.
  • the second CNT yarn may be annealed.
  • the second CNT yarn may be annealed in accordance with one or more embodiments above for annealing the CNT yarn.
  • the first and the second CNT yarns may be annealed together.
  • the first and the second CNT yarns may be annealed differently (e.g., different temperature, annealing time, annealing environment).
  • the core fiber may be removed from the first CNT yarn.
  • the core fiber may be removed from the CNT yarn in accordance with one or more embodiments disclosed above.

Abstract

Un dispositif de muscle à nanotubes de carbone (CNT) comprend un premier fil de CNT. Le premier fil de CNT comprend: une ou plusieurs premières feuilles de CNT enroulées sous la forme d'un tube; et un premier matériau d'actionnement hôte infiltrant la ou les premières feuilles de CNT.
PCT/US2018/057736 2017-10-26 2018-10-26 Feuille de nanotubes de carbone enveloppant les muscles WO2019084420A1 (fr)

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JP2020523347A JP2021502044A (ja) 2017-10-26 2018-10-26 カーボンナノチューブシートをラップする筋肉
US16/759,130 US20200345475A1 (en) 2017-10-26 2018-10-26 Carbon nanotube sheet wrapping muscles

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US201762577512P 2017-10-26 2017-10-26
US62/577,512 2017-10-26
US201762588034P 2017-11-17 2017-11-17
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US20200345475A1 (en) 2020-11-05

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